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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Recent advancement in Mxene-based nanomaterials for flame retardant polymers and composites

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Advanced Industrial and engineering Polymer Research 2025年

作者： Yakubu Adekunle Alli Abayomi Bamisaye Onome Ejeromedoghene Olusegun Oluwaseun Jimoh Samuel Oluwadadepo Oni Gerald Chekwube Ezeamii Chukwurimazu Ozoemezim Adeniyi Sunday Ogunlaja Suraya Abdul Rashid Baljinder K. Kandola Department of Chemistry Nelson Mandela University Port Elizabeth South Africa Department of Chemistry Faculty of Natural and Applied Sciences Lead City University Ibadan Oyo State Nigeria College of Chemistry Chemical Engineering and Materials Science Soochow University 199 Renai Road 215123 Suzhou Jiangsu Province PR China Department of Pharmacology Southern Illinois University Carbondale 62702 USA Department of Physics Georgia Southern University Statesboro 30458 USA Department of Applied Instrumentation and control school of Computing Engineering and Built Environment Glasgow Caledonian University UK Department of Electrical and Computer Engineering University of Florida Institute of Nanoscience & Nanotechnology Universiti Putra Malaysia Institute for Materials Research and Innovation University of Bolton Bolton BL3 5AB UK

This review explores the advancements in MXene-based nanomaterials as flame-retardant additives for polymers and composites, driven by increasing fire safety demands across industries. It highlights the critical role of flame-retardant materials in mitigating fire hazards in structures, electronics, transportation, and textiles, emphasizing the need for innovative solutions due to stricter safety regulations. MXenes, a class of two-dimensional nanomaterials with unique structural properties such as high surface area, tunable composition, and superior thermal stability, are presented as promising candidates. The review discusses various synthesis and incorporation techniques for MXenes in polymer matrices, showcasing improvements in flame retardancy, mechanical properties, and thermal stability. Additionally, it emphasizes the multifunctionality of MXenes, which offer conductivity, electromagnetic shielding, and mechanical reinforcement alongside flame suppression. In conclusion, the review underscores MXenes' potential to address challenges in flame-retardant materials, advocating for further research to optimize their applications and explore synergies with other agents to enhance safety and sustainability in engineering materials.

关键词： MXene flame-retardant nanomaterials polymer

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Human Motion Prediction Based on Visual Tracking 4

Human Motion Prediction Based on Visual Tracking

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4th International Conference on Robotics and Automation engineering, ICRAE 2019

作者： Zou, Juncheng Yin, Weihua Wang, Everett X. Wang, Jiancheng Lu, Yan-Feng School of Mechanical Engineering Beijing University of Science and Technology China Institute of Science and Technology Innovation Dongguan University of Technology China School of Information Engineering Guangdong University of Technology Guangzhou China Cloud Computing Center Chinese Academy of Sciences China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147406

Following and moving according to human motion is an important task for mobile robots. To ensure more compliant motion planning and execution of mobile robots, they can not be controlled by real-time visual information. In the tracking process, robots need to recognize and track the target then, plan the motion and execute the motion. In practical applications, the environments are very complex, such as illumination, shadows and occlusion, which the traditional visual tracking algorithms often deviate or lose the target. Therefore, to achieve fast human motion tracking, it is necessary to predict human motions by video prediction. In this paper, we propose a human motion tracking algorithm of mobile robot based on video prediciton. (1) The multi-layer generation adversarial loop network, which trained by off-line video dataset and learn how to predict human motion. (2) We used the pre-trained model to predict the state of the tracking target in the video. (3) This video prediction model was integrated into human-to-robot tracking algorithms of mobile robot following human system. Experiments show that the proposed algorithm can track human motion at a certain speed and precision. © 2019 IEEE.

关键词： Mobile robots

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Constrained Extreme Learning Machine: A novel highly discriminative random feedforward neural network

Constrained Extreme Learning Machine: A novel highly discrim...

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International Joint Conference on Neural Networks (IJCNN)

作者： Wentao Zhu Jun Miao Laiyun Qing CAS Institute of Computing Technology Beijing China Institute of Computing Technology Chinese Academy of Sciences Beijing CN School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China

In this paper, a novel single hidden layer feedforward neural network, called Constrained Extreme Learning Machine (CELM), is proposed based on Extreme Learning Machine (ELM). In CELM, the connection weights between the input layer and hidden neurons are randomly drawn from a constrained set of difference vectors of between-class samples, rather than an open set of arbitrary vectors. Therefore, the CELM is expected to be more suitable for discriminative tasks, whilst retaining other advantages of ELM. The experimental results are presented to show the high efficiency of the CELM, compared with ELM and some other related learning machines.

关键词： Support vector machine classification Vectors Training Accuracy Biological neural networks Feedforward neural networks Testing

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Manufacturing Systems control Design 1

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丛书名： Advances in Industrial control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： control and Systems Theory Industrial and Production engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

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Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Constraint Checking for XML-Based Language Specification by SAT Solver

Constraint Checking for XML-Based Language Specification by ...

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International Conference on Secure Software Integration and Reliability Improvement Companion (SSIRI-C)

作者： Hao Xiao Zheng Wang Gegang Pu Bin Gu Shanghai Key Laboratory of Trustworthy Computing Software Engineering Institute East China Jiao Tong University Shanghai China Beijing Institute of Control Engineering Beijing China

XML has been widely applied in kinds of areas and applications as a data exchange format. Recently, plenty of of languages based on XML emerge. There are many constraints specified by natural language in these XML-based language specifications to regulate the rules that are supposed to be obeyed by designers or programmers. To specify those constraints precisely, we present a relational calculus to capture them. Meanwhile, by means of the constraint solvers (SAT or SMT solver), we can decide that whether a XML-based document satisfies the constraints specified in its corresponding specification.

关键词： XML Calculus Laboratories Software engineering control engineering Application software Natural languages Programming profession Surface-mount technology Web services

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Use of Optimal Constrained Covariance control (OC 3 ) in Dynamic Positioning of Floating Vessels

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IFAC Proceedings Volumes 1995年第2期28卷 9-15页

作者： S. Mandžuka Z. Vukić Control Engineering Department Brodarski institute d.o.o. Av. V. Holjevca 20 41000 Zagreb CROATIA Department of Control and Computer Engineering in Automation University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 41000 Zagreb CROATIA

A new technique for control system design based on the Optimal Constrained Covariance control (OC 3 ) is presented. A design procedure of control system for dynamic ship positioning is proposed. In the papers published so far the controller gain matrices were detennined using the classical Linear Quadratic Gaussian (LQG) optimal control technique, the pole-placement technique and characteristic locus design method. The main disadvantage of these techniques is their poor correspondence with the real performance requirements of control system. Using the proposed technique this disadvantage is avoided. The results of computer simulation using OC 3 control are presented.

关键词： LQG control Constrained covariance control Dynamic positioning

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Interaction-Aware Cut-In Trajectory Prediction and Risk Assessment in Mixed Traffic

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1752-1762页

作者： Xianglei Zhu Wen Hu Zejian Deng Jinwei Zhang Fengqing Hu Rui Zhou Keqiu Li Fei-Yue Wang the College of Intelligence and Computing Tianjin UniversityTianjin 300350 the China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L3G1Canada the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China the Macao University of Science and Technology MacaoChina the Waytous Inc. Qingdao 266000China IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by *** improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic *** integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and *** dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference *** on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax ***,the comparative analysis is performed to validate the proposed method using the naturalistic driving *** results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.

关键词： Cut-in behavior interaction-aware mixed traffic risk assessment trajectory prediction

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Weak Signal Detection with Duffing Oscillator Based on Circular Boundary Counting Method and STFT State Identification Parameter

Weak Signal Detection with Duffing Oscillator Based on Circu...

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2019 2nd International Conference on Electrical and Electronic engineering（EEE 2019）

作者： Zhi-qiang ZHU Rui-li JIA Xiao-peng YAN Ke WANG Jian HOU Science and Technology on Electromechanical Dynamic Control Laboratory School of Mechatronical Engineering Beijing Institute of Technology Beijing Jinghang Research Institute of Computing and Communication

To solve the problem of quantitative identification of the state of Duffing oscillator and determination of the critical threshold of reference amplitude, a combined weak signal detection method is proposed in this paper. The STFT statistical characteristics of Duffing oscillator in chaotic state, intermittent state and large-scale periodic state is analyzed and based on it the state identification parameter is selected to quantitatively present the state of Duffing oscillator. The step change of the number of the phase points on the boundary of circular regions in the phase plane is shown and the circular boundary counting method is proposed to determine the critical threshold. Based on above research, the algorithm of the combined weak signal detection is given, which uses Runge-Kutta algorithm to calculate the Duffing system. Simulation results show that this combined method is not only accurate at low SNR, but also robust when noise condition is variable.

关键词： Weak signal detection Duffing oscillator Circular boundary counting method State identification Determining critical value

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